JPS6286411A - Positioning controller for turning body - Google Patents

Abstract

PURPOSE:To improve the stop position accuracy of a turning body and the rigidity due to displacement by providing a speed loop proportional gain switching means switching the speed loop proportional gain into a high gain in response to a timer circuit. CONSTITUTION:When a position data read circuit 24 outputs a signal re presenting the presence in the 2nd deceleration point, the process enters a linear zone of a position loop gain setting device 27 and a motor 2 starts deceleration and stops at an aimed stop point. A timer circuit 29 starts it operation at a time t5 slightly earlier than the aimed stop point and after the setting time elapses a stop end signal is outputted and after the stop end signal is outputted, a gain switching signal 27a is fed to a speed loop proportional gain circuit 16. Then the speed loop proportional gain is larger than a value set by a speed loop proportional gain setting device during the stop. Thus,the stop position accuracy of the turning body and the rigidity of displacement are improved considerably.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a positioning control device for a rotating body suitable for stopping, for example, a main shaft of a machine tool in a fixed position.

[Conventional technology]

FIG. 5 is a schematic configuration diagram of a conventional positioning control device.
In the figure, (1) is the control device that constitutes the feedback control system, (2) is the tir*21 machine whose speed is controlled by the commands of this control device, (3) is the motor shaft, and (4) is the motor shaft ( 3) is connected to the nine gears, (5) is another gear that meshes with this, and (6) is the rotating shaft that is connected to gear (5).

The main shaft of the machine tool, (7) is a small gear connected to the end of the rotating shaft (6), (8) is another small gear that fits this one, and (9) is a small gear (8). The position detection i, Q* connected to the motor is a path/I/scan encoder that generates pulses in accordance with the rotation of the electric motor (2).

Figure 6 is like this! 5 is a program diagram showing the detailed configuration of the decision control device, and the same reference numerals as in FIG. 5 indicate the same elements, and α1J other than these are EnM, w head, / (A microcomputer equipped with an AT sofa, which removes color from the water and borders, and shows the functions in blocks. About 1j15Vs@Detector (
9) rotates once and outputs the n pulse, which is multiplied by 4. Q3ir position detection day (9) rotates once and outputs the n
A Kawafta that counts pulses as they are. 0 荀 is Kawanta Q
a, α] is a position control circuit that calculates the speed command of the electric motor (2) based on the counted values of αυ, which counts the number of output pulses of the pulse encoder 00 and outputs an N-bit, for example, 8-bit speed feed barak signal. Speed detection circuit, Q6
and 07) are the speed command output from the position control circuit 0x and the speed of the speed feedback signal output from the speed detection circuit Qi)v-7' proportional gain circuit, speed loop integral gain circuit, and 011 degree loop proportional gain circuit. Speed control command calculation circuit 1 which calculates the deviation of 0· and speed loop integral gain circuit aη and adds a speed control signal to electric motor 5 (2).
The song is the first speed command for deceleration, (a) is the second speed command, 3υ is the stop position It command, @ is ′″H when the first speed command α and the speed feedback signal match ' Speed attainment circuit that outputs the signal, @ is the gear ratio reading circuit that reads the gear ratio setting, @ is the position data reading circuit that reads the stop position command El), (to) is the gear ratio setting kL (E) 1 is a position loop gain circuit, 1 is a position loop gain setter for setting the gain of this position M-p gain circuit, and (G) is a gain setter for a speed loop after position loop switching.

The operation of this conventional positioning control device will be explained below with reference to FIGS. 8 and 6.

First, the control device! (1> is tit 1m!l II
When a speed control signal is applied to (2), the 4 set 2) rotates, and the rotating shaft (6) rotates at a speed determined by the gear ratio of the gears (4) and (5), ζC, that is, the gear ratio. Driven. At this time,
Position detector (9) via pinion ('i') + (s)
) is rotated tl, and the position data of the rotating shaft (6) is fed back to the control device (1). Further, the pulse encoder On applies a number of pulse signals corresponding to the rotation of the blind motion @(2) to the control device 1e(1). Therefore, the control device i
t (1) compares the speed command calculated based on the output of the position detector (9) and the speed feedback signal obtained by counting the pulses of the pulse encoder (1 (I), and the difference becomes zero. Speed control signals such as
) in addition to stopping the rotating shaft (6) at a fixed position.

9th place li here! Detection Pilgrimage (9) is shown in Figure 8), ((
As shown in 31, O, ), 1 of 9 rotating shafts (6) [! 3
] Contains n pulses for rotation tl, and pulse signals (, 9a) with different tl phases.

Valsui No. 1 (9b) and a pulse signal (90) containing one pulse per one rotation of the rotating shaft (6) are output. Among these, pulse signals (9a) and (9b)
The number of pulses is multiplied by 4 by the counter Qa, and the pulse signal (90) is directly converted by the counter into a signal corresponding to the voltage.

Next, as shown in FIG. 8(a), when a fixed position stop command is applied at time t1, the 0 position control circuit α transfer switches SWI and SW2 are closed and the normal operating speed is returned to 0. At the same time, the gear ratio setting IN (c) is read by the gear ratio reading cycle Wlr (to). When reaches the first speed at time t2 of deceleration 0, the first speed command α and the speed feedback signal of the speed detection circuit a[S become equal, so the speed is reached at the time #&)
outputs the IHf signal, and the switch y5 is opened at the rising timing of this signal.

By closing this switch y5, the output signal of the counter 03 is applied to the position data reading circuit ■, and the W movement 11i (
2) When the forward rotation irz signal rises, and when the reverse rotation side falls at the timing 9, the stop position command ■υ is read and the pulse signal (
9a) and (9b) quadruple counting operations are started. When the counter 03 reaches 1+l corresponding to the first deceleration point #f, the 1-position data reading circuit (c) opens the switch reservoirs 1 and 6W2 and closes the switches SW8 and SW4. By kneading, the second speed command (1) is applied to the continuous control command calculation circuit 081 via the speed loop proportional gain circuit (IQ and speed loop integral gain 1FIl path 0η), and at the same time, the gear ratio setting is the gear ratio reading circuit (reads at 1).

Therefore, the tff speed ζ2) decreases to the second degree of shame, but at time 4 when the second deceleration point count 11η is reached, the position data read...1 path closes the switch El''1AI6.

Thus, the stop position command is 1) Ii! Detector(
9) The speed command calculated based on the pulse signal T911.1, (91')IK and the speed feedback signal of the speed detection circuit 0
The rotation axis (0
) is stopped. Figure 7 shows the position data reading circuit (
3 is a flowchart showing the processing procedure of c).

[Problem that the invention seeks to solve]

The conventional positioning control device for a rotating body is configured as W4 as described above, and the speed loop proportional gain from the second deceleration point to floating to the fixed position and the speed loop proportional gain while stopping at the fixed position are set to be the same. As a result, the positioning accuracy during stopping at a fixed position is low, and the rigidity against deviation is poor, resulting in failure.

This invention was made in order to solve the above-mentioned problems, and provides a positioning control device for a rotating body that can greatly improve the accuracy of the stopping position of a rotating body and also reduce the rigidity due to the position of the rotating body. For the purpose of providing.

[Means for solving problems]

A positioning control device for a rotating body according to the present invention.

The operation begins at a predetermined point where the rotating body begins to decelerate.

It is equipped with a timer circuit that generates an f symbol at the target stop time, and a speed loop proportional gain switching means that can switch and set the speed loop proportional gain to be higher in response to the timer circuit.

[For production]

In this invention, the speed loop proportional gain is set high when the rotating body is positioned and stopped, thereby increasing the stopping position lt accuracy and the rigidity against deviation.

〔Example〕

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention, and is shown in FIG. and 1
The timer circuit that starts operation by the output of the data reading circuit ■, the time γ of this timer circuit, and the gain of the speed loop proportional gain circuit 0 after software 2 are set high [
The difference from FIG. 6 is that an i#f loop gain switching circuit ζ1 shown in FIG. 7 is newly added.

This example is explained below! Figures 2 to 4 are also shown, focusing on the part where h/I 乍 has been newly added! This will be explained below.

As shown in Fig. 2), a signal indicating that the 1-position data read 1-1ri track has entered the second deceleration point is output.

Enters the linear zone of the position loop gain setting device.

The train 011m (2) starts decelerating and stops at the target stopping point.

As shown in Fig. 2) and Fig. 3(f), the timer circuit starts operating at a time ti slightly earlier than the target stopping point, and a stop completion signal is output after the set time elapses. At the same time, after this stop completion signal is no longer output, a gain switching signal (27al) is applied to the speed loop proportional gain circuit Q.

However, when stopped, the speed loop proportional gain setter (c)
The setting machining 9 that has been completely set also has a large velocity loop proportional gain, and can improve the stopping position accuracy and the rigidity against deviation during stopping. FIG. 4 is a flowchart showing this processing procedure.

2. In the above embodiment, the main spindle of a machine tool was explained to be stopped at a predetermined position, but the present invention! It goes without saying that it can be applied to the stop position control of a general rotary body driven by a motor. [Effects of the Invention] As described above, according to the present invention, only during the 9 positioning stop,
Since the speed loop proportional gain is switched and set to be higher, it is possible to significantly increase the stopping position accuracy of one rotating body and the rigidity against deviation.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.
Figures 2D), (b), and (o) are time charts for explaining the operation of the same embodiment, respectively, and Figure 8).
~(0 is a time chart for explaining the operation of the same embodiment in relation to the conventional device, Fig. 4 is a flow chart for explaining the operation of the same embodiment, and Fig. 4g5 is a conventional positioning control device for a rotating body. 6 is a block diagram showing the detailed configuration of the device, and FIG. 7 is a flowchart for explaining the operation of the device. In the figure, (1) is a control device, (2) Electric motor, (6
) is the rotation axis as a rotating body, (9) is the position detection liJ,
Q4) is a position control circuit, α6 is a speed loop proportional gain circuit, @ is a timer circuit, and (to) is a speed loop gain switching circuit. In each figure, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] A rotating body that stops the rotating body at a fixed position based on a position detection signal that detects the position of the rotating body driven by an electric motor and a stop position command obtained by setting a stopping position of the rotating body. The positioning control device includes a timer circuit that starts operation at a predetermined point where the rotating body starts decelerating and generates a signal at a target stop time, and switches the speed loop gain to a higher value in response to the signal of this timer circuit. 1. A positioning control device for a rotating body, comprising a settable speed loop gain switching means.